Motion/force coordinated trajectory tracking control of nonholonomic wheeled mobile robot via LMPC-AISMC strategy
Abstract Nonholonomic constrained wheeled mobile robot (WMR) trajectory tracking requires the enhancement of the ground adaptation capability of the WMR while ensuring its attitude tracking accuracy, a novel dual closed-loop control structure is developed to implement this motion/force coordinated c...
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| Principais autores: | , , , , |
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| Format: | Artigo |
| Jezik: | Inglês |
| Izdano: |
Nature Portfolio
2024-08-01
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| Serija: | Scientific Reports |
| Teme: | |
| Online dostop: | https://doi.org/10.1038/s41598-024-68757-1 |
| Oznake: |
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